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<div class="title">pfh.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_PFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_PFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/features/pfh_tools.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::PFHSignature125&gt;</div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html">   82</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_p_f_h_estimation.html">PFHEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a>  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a743367f7ca294736be4531767efd929b">  102</a></span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a743367f7ca294736be4531767efd929b">PFHEstimation</a> () : </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a787433bde63fd2112749fb761ba634d9">nr_subdiv_</a> (5), </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a532ee44cb67ace9f8497f16903f4abb5">pfh_histogram_</a> (),</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a5f6807da48f5fbad308389f65f530e9b">pfh_tuple_</a> (),</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a2bc44ecb6303a59c8fd42b266983c808">d_pi_</a> (1.0f / (2.0f * static_cast&lt;float&gt; (M_PI))), </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#ae9713346214cdaad623f87c746a72a47">feature_map_</a> (),</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#abe6f7a84482d4d183030de243259a288">key_list_</a> (),</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="comment">// Default 1GB memory size. Need to set it to something more conservative.</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#aa228e1ef8c0e6ba9c7888110826c1bb2">max_cache_size_</a> ((1ul*1024ul*1024ul*1024ul) / sizeof (std::pair&lt;std::pair&lt;int, int&gt;, Eigen::Vector4f&gt;)),</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a9a4e8a04a2fffe5188f61659eef3e61c">use_cache_</a> (false)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;PFHEstimation&quot;</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      };</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#aa8cee8da7de6dfb47f3eea5ba9b96961">  120</a></span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#aa8cee8da7de6dfb47f3eea5ba9b96961">setMaximumCacheSize</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cache_size)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#aa228e1ef8c0e6ba9c7888110826c1bb2">max_cache_size_</a> = cache_size;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#ae4810523c3cc20ea168026746eb10364">  127</a></span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#ae4810523c3cc20ea168026746eb10364">getMaximumCacheSize</a> ()</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_p_f_h_estimation.html#aa228e1ef8c0e6ba9c7888110826c1bb2">max_cache_size_</a>);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a7de62d0bc5073bdb5f36ece9ff283887">  144</a></span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a7de62d0bc5073bdb5f36ece9ff283887">setUseInternalCache</a> (<span class="keywordtype">bool</span> use_cache)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a9a4e8a04a2fffe5188f61659eef3e61c">use_cache_</a> = use_cache;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a82599c35e0ab45dec7aa3074bf7ede68">  151</a></span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a82599c35e0ab45dec7aa3074bf7ede68">getUseInternalCache</a> ()</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_p_f_h_estimation.html#a9a4e8a04a2fffe5188f61659eef3e61c">use_cache_</a>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a24c4df13bb5e418f65a4d0397f5c059f">computePairFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals, </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                           <span class="keywordtype">int</span> p_idx, <span class="keywordtype">int</span> q_idx, <span class="keywordtype">float</span> &amp;f1, <span class="keywordtype">float</span> &amp;f2, <span class="keywordtype">float</span> &amp;f3, <span class="keywordtype">float</span> &amp;f4);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#ab1304ee95f069b980308a69882706e66">computePointPFHSignature</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals, </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                                <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keywordtype">int</span> nr_split, Eigen::VectorXf &amp;pfh_histogram);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <a class="code" href="classpcl_1_1_p_f_h_estimation.html#ad8769fa8f306bbde7d617ff4e68c9ffe">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a787433bde63fd2112749fb761ba634d9">  196</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a787433bde63fd2112749fb761ba634d9">nr_subdiv_</a>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a532ee44cb67ace9f8497f16903f4abb5">  199</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a532ee44cb67ace9f8497f16903f4abb5">pfh_histogram_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a5f6807da48f5fbad308389f65f530e9b">  202</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a5f6807da48f5fbad308389f65f530e9b">pfh_tuple_</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a372059419302368d08789a58f76ad364">  205</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a372059419302368d08789a58f76ad364">f_index_</a>[3];</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a2bc44ecb6303a59c8fd42b266983c808">  208</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a2bc44ecb6303a59c8fd42b266983c808">d_pi_</a>; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#ae9713346214cdaad623f87c746a72a47">  211</a></span>&#160;      std::map&lt;std::pair&lt;int, int&gt;, Eigen::Vector4f, std::less&lt;std::pair&lt;int, int&gt; &gt;, Eigen::aligned_allocator&lt;std::pair&lt;const std::pair&lt;int, int&gt;, Eigen::Vector4f&gt; &gt; &gt; <a class="code" href="classpcl_1_1_p_f_h_estimation.html#ae9713346214cdaad623f87c746a72a47">feature_map_</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#abe6f7a84482d4d183030de243259a288">  214</a></span>&#160;      std::queue&lt;std::pair&lt;int, int&gt; &gt; <a class="code" href="classpcl_1_1_p_f_h_estimation.html#abe6f7a84482d4d183030de243259a288">key_list_</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#aa228e1ef8c0e6ba9c7888110826c1bb2">  217</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_p_f_h_estimation.html#aa228e1ef8c0e6ba9c7888110826c1bb2">max_cache_size_</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a9a4e8a04a2fffe5188f61659eef3e61c">  220</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_p_f_h_estimation.html#a9a4e8a04a2fffe5188f61659eef3e61c">use_cache_</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  };</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/pfh.hpp&gt;</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_PFH_H_</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html">pcl::PFHEstimation</a></div><div class="ttdoc">PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset ...</div><div class="ttdef"><b>Definition:</b> pfh.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a24c4df13bb5e418f65a4d0397f5c059f"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a24c4df13bb5e418f65a4d0397f5c059f">pcl::PFHEstimation::computePairFeatures</a></div><div class="ttdeci">bool computePairFeatures(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, int p_idx, int q_idx, float &amp;f1, float &amp;f2, float &amp;f3, float &amp;f4)</div><div class="ttdoc">Compute the 4-tuple representation containing the three angles and one distance between two points re...</div><div class="ttdef"><b>Definition:</b> pfh.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a2bc44ecb6303a59c8fd42b266983c808"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a2bc44ecb6303a59c8fd42b266983c808">pcl::PFHEstimation::d_pi_</a></div><div class="ttdeci">float d_pi_</div><div class="ttdoc">Float constant = 1.0 / (2.0 * M_PI)</div><div class="ttdef"><b>Definition:</b> pfh.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a372059419302368d08789a58f76ad364"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a372059419302368d08789a58f76ad364">pcl::PFHEstimation::f_index_</a></div><div class="ttdeci">int f_index_[3]</div><div class="ttdoc">Placeholder for a histogram index.</div><div class="ttdef"><b>Definition:</b> pfh.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a532ee44cb67ace9f8497f16903f4abb5"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a532ee44cb67ace9f8497f16903f4abb5">pcl::PFHEstimation::pfh_histogram_</a></div><div class="ttdeci">Eigen::VectorXf pfh_histogram_</div><div class="ttdoc">Placeholder for a point's PFH signature.</div><div class="ttdef"><b>Definition:</b> pfh.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a5f6807da48f5fbad308389f65f530e9b"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a5f6807da48f5fbad308389f65f530e9b">pcl::PFHEstimation::pfh_tuple_</a></div><div class="ttdeci">Eigen::Vector4f pfh_tuple_</div><div class="ttdoc">Placeholder for a PFH 4-tuple.</div><div class="ttdef"><b>Definition:</b> pfh.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a743367f7ca294736be4531767efd929b"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a743367f7ca294736be4531767efd929b">pcl::PFHEstimation::PFHEstimation</a></div><div class="ttdeci">PFHEstimation()</div><div class="ttdoc">Empty constructor. Sets use_cache_ to false, nr_subdiv_ to 5, and the internal maximum cache size to ...</div><div class="ttdef"><b>Definition:</b> pfh.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a787433bde63fd2112749fb761ba634d9"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a787433bde63fd2112749fb761ba634d9">pcl::PFHEstimation::nr_subdiv_</a></div><div class="ttdeci">int nr_subdiv_</div><div class="ttdoc">The number of subdivisions for each angular feature interval.</div><div class="ttdef"><b>Definition:</b> pfh.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a7de62d0bc5073bdb5f36ece9ff283887"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a7de62d0bc5073bdb5f36ece9ff283887">pcl::PFHEstimation::setUseInternalCache</a></div><div class="ttdeci">void setUseInternalCache(bool use_cache)</div><div class="ttdoc">Set whether to use an internal cache mechanism for removing redundant calculations or not.</div><div class="ttdef"><b>Definition:</b> pfh.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a82599c35e0ab45dec7aa3074bf7ede68"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a82599c35e0ab45dec7aa3074bf7ede68">pcl::PFHEstimation::getUseInternalCache</a></div><div class="ttdeci">bool getUseInternalCache()</div><div class="ttdoc">Get whether the internal cache is used or not for computing the PFH features.</div><div class="ttdef"><b>Definition:</b> pfh.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a9a4e8a04a2fffe5188f61659eef3e61c"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a9a4e8a04a2fffe5188f61659eef3e61c">pcl::PFHEstimation::use_cache_</a></div><div class="ttdeci">bool use_cache_</div><div class="ttdoc">Set to true to use the internal cache for removing redundant computations.</div><div class="ttdef"><b>Definition:</b> pfh.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_aa228e1ef8c0e6ba9c7888110826c1bb2"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#aa228e1ef8c0e6ba9c7888110826c1bb2">pcl::PFHEstimation::max_cache_size_</a></div><div class="ttdeci">unsigned int max_cache_size_</div><div class="ttdoc">Maximum size of internal cache memory.</div><div class="ttdef"><b>Definition:</b> pfh.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_aa8cee8da7de6dfb47f3eea5ba9b96961"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#aa8cee8da7de6dfb47f3eea5ba9b96961">pcl::PFHEstimation::setMaximumCacheSize</a></div><div class="ttdeci">void setMaximumCacheSize(unsigned int cache_size)</div><div class="ttdoc">Set the maximum internal cache size. Defaults to 2GB worth of entries.</div><div class="ttdef"><b>Definition:</b> pfh.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_ab1304ee95f069b980308a69882706e66"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#ab1304ee95f069b980308a69882706e66">pcl::PFHEstimation::computePointPFHSignature</a></div><div class="ttdeci">void computePointPFHSignature(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, const std::vector&lt; int &gt; &amp;indices, int nr_split, Eigen::VectorXf &amp;pfh_histogram)</div><div class="ttdoc">Estimate the PFH (Point Feature Histograms) individual signatures of the three angular (f1,...</div><div class="ttdef"><b>Definition:</b> pfh.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_abe6f7a84482d4d183030de243259a288"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#abe6f7a84482d4d183030de243259a288">pcl::PFHEstimation::key_list_</a></div><div class="ttdeci">std::queue&lt; std::pair&lt; int, int &gt; &gt; key_list_</div><div class="ttdoc">Queue of pairs saved, used to constrain memory usage.</div><div class="ttdef"><b>Definition:</b> pfh.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_ad8769fa8f306bbde7d617ff4e68c9ffe"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#ad8769fa8f306bbde7d617ff4e68c9ffe">pcl::PFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by &lt;setInputCloud ()...</div><div class="ttdef"><b>Definition:</b> pfh.hpp:164</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_ae4810523c3cc20ea168026746eb10364"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#ae4810523c3cc20ea168026746eb10364">pcl::PFHEstimation::getMaximumCacheSize</a></div><div class="ttdeci">unsigned int getMaximumCacheSize()</div><div class="ttdoc">Get the maximum internal cache size.</div><div class="ttdef"><b>Definition:</b> pfh.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_ae9713346214cdaad623f87c746a72a47"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#ae9713346214cdaad623f87c746a72a47">pcl::PFHEstimation::feature_map_</a></div><div class="ttdeci">std::map&lt; std::pair&lt; int, int &gt;, Eigen::Vector4f, std::less&lt; std::pair&lt; int, int &gt; &gt;, Eigen::aligned_allocator&lt; std::pair&lt; const std::pair&lt; int, int &gt;, Eigen::Vector4f &gt; &gt; &gt; feature_map_</div><div class="ttdoc">Internal hashmap, used to optimize efficiency of redundant computations.</div><div class="ttdef"><b>Definition:</b> pfh.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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